I think Lalwendë has hit it on the spot - yes, Aragorn is king, but not of this country! The Rohirrim are not his subjects, and Théoden is his ally, not his vassal. Even having a larger and more important kingdom does not give Aragorn the right to go over the king's head in that king's own country. I don't see Aragorn as arrogant here, but it is certainly good that he has a wise counselor and accepts what he says. Diplomacy is an important part of political wisdom.
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'Mercy!' cried Gandalf. 'If the giving of information is to be the cure of your inquisitiveness, I shall spend all the rest of my days in answering you. What more do you want to know?' 'The whole history of Middle-earth.. .'
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